VAM: hypocycloid mechanism for efficient bio-inspired robotic gaits

Espen Knoop; Andrew Conn; Jonathan Rossiter

doi:10.1109/LRA.2017.2657004

VAM: hypocycloid mechanism for efficient bio-inspired robotic gaits

Espen Knoop, Andrew Conn, Jonathan Rossiter

Research output: Contribution to journal › Article (Academic Journal) › peer-review

7 Citations (Scopus)

655 Downloads (Pure)

Abstract

We present VAMOS (Variable Amplitude Module Orthogonal Slider), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a Variable Amplitude Module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can therefore operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.

Original language	English
Pages (from-to)	1055-1061
Number of pages	7
Journal	IEEE Robotics and Automation Letters
Volume	2
Issue number	2
Early online date	23 Jan 2017
DOIs	https://doi.org/10.1109/LRA.2017.2657004
Publication status	Published - Apr 2017

Research Groups and Themes

Tactile Action Perception

Keywords

Mechanism Design of Mobile Robots
Multilegged Robots
Hexapod, Gait Modulation
Biologically-Inspired Robots

Access to Document

10.1109/LRA.2017.2657004

Full-text PDF (accepted author manuscript)
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://ieeexplore.ieee.org/document/7829272/. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 1.63 MB

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EPSRC Fellowship - Soft robotic technologies for next generation bio integrative medical devices
Rossiter, J. M. (Principal Investigator)
1/10/15 → 31/03/21
Project: Research
Copy of Wearable soft robotics for independent living
Rossiter, J. M. (Principal Investigator)
1/07/15 → 31/12/18
Project: Research

Cite this

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title = "VAM: hypocycloid mechanism for efficient bio-inspired robotic gaits",

abstract = "We present VAMOS (Variable Amplitude Module Orthogonal Slider), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a Variable Amplitude Module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can therefore operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.",

keywords = "Mechanism Design of Mobile Robots, Multilegged Robots, Hexapod, Gait Modulation, Biologically-Inspired Robots",

author = "Espen Knoop and Andrew Conn and Jonathan Rossiter",

year = "2017",

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doi = "10.1109/LRA.2017.2657004",

language = "English",

volume = "2",

pages = "1055--1061",

journal = "IEEE Robotics and Automation Letters",

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publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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TY - JOUR

T1 - VAM

T2 - hypocycloid mechanism for efficient bio-inspired robotic gaits

AU - Knoop, Espen

AU - Conn, Andrew

AU - Rossiter, Jonathan

PY - 2017/4

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N2 - We present VAMOS (Variable Amplitude Module Orthogonal Slider), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a Variable Amplitude Module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can therefore operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.

AB - We present VAMOS (Variable Amplitude Module Orthogonal Slider), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a Variable Amplitude Module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can therefore operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.

KW - Mechanism Design of Mobile Robots

KW - Multilegged Robots

KW - Hexapod, Gait Modulation

KW - Biologically-Inspired Robots

U2 - 10.1109/LRA.2017.2657004

DO - 10.1109/LRA.2017.2657004

M3 - Article (Academic Journal)

SN - 2377-3766

VL - 2

SP - 1055

EP - 1061

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 2

ER -

VAM: hypocycloid mechanism for efficient bio-inspired robotic gaits

Abstract

Research Groups and Themes

Keywords

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Projects

EPSRC Fellowship - Soft robotic technologies for next generation bio integrative medical devices

Copy of Wearable soft robotics for independent living

Cite this